def btn_start_shot_click(self):
self.mw_states = []
self.xyz_shots = []
for device in self.mw_devices:
# try:
# device.connect()
# except:
# print 'connection to %s failed (the device might be already connected)' % device.address
self.mw_states.append(
MetaWearState(device, self.mw_positions[device.address], self))
for s in self.mw_states:
libmetawear.mbl_mw_settings_set_connection_parameters(
s.device.board, 7.5, 7.5, 0, 6000)
sleep(1.5)
libmetawear.mbl_mw_acc_set_odr(s.device.board, 100.0)
libmetawear.mbl_mw_acc_set_range(s.device.board, 16.0)
libmetawear.mbl_mw_acc_write_acceleration_config(s.device.board)
signal = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
s.device.board)
libmetawear.mbl_mw_datasignal_subscribe(signal, None, s.callback)
libmetawear.mbl_mw_acc_enable_acceleration_sampling(s.device.board)
libmetawear.mbl_mw_acc_start(s.device.board)
# t = Timer(15, self.time_elapsed)
# t.start()
print 'shot has started'
return
def setup(self):
# setup ble
libmetawear.mbl_mw_settings_set_connection_parameters(
self.device.board, 7.5, 7.5, 0, 6000)
sleep(1.5)
# setup event
e = Event()
# processor callback fxn
def processor_created(context, pointer):
self.processor = pointer
e.set()
fn_wrapper = cbindings.FnVoid_VoidP_VoidP(processor_created)
# get acc signal
acc = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
self.device.board)
# create acc averager (averages 4 consecutive acc data entriess)
libmetawear.mbl_mw_dataprocessor_average_create(
acc, 4, None, fn_wrapper)
# wait for averager to be created
e.wait()
# subscribe to signal
libmetawear.mbl_mw_datasignal_subscribe(self.processor, None,
self.callback)
def start(self):
if self.device == None:
self.log("ERROR", "Device not available")
return False
dev_board = self.device.board
self.log("INFO", "Configuring device")
lmw.mbl_mw_settings_set_connection_parameters(dev_board, 7.5, 7.5, 0,
6000)
time.sleep(1.5)
# Subscribe to accelerometer data
acc = lmw.mbl_mw_acc_get_acceleration_data_signal(dev_board)
lmw.mbl_mw_datasignal_subscribe(acc, None, self.callback_acc)
# Subscribe to gyro data
gyro = lmw.mbl_mw_gyro_bmi160_get_rotation_data_signal(dev_board)
lmw.mbl_mw_datasignal_subscribe(gyro, None, self.callback_gyr)
self.log("INFO", "Starting device...")
# Enable accelerometer sampling
lmw.mbl_mw_acc_enable_acceleration_sampling(dev_board)
lmw.mbl_mw_acc_start(dev_board)
# Enable gyrp sampling
lmw.mbl_mw_gyro_bmi160_enable_rotation_sampling(dev_board)
lmw.mbl_mw_gyro_bmi160_start(dev_board)
self.log("INFO", "Device started.")
return True
def setup(self):
libmetawear.mbl_mw_settings_set_connection_parameters(self.device.board, 7.5, 7.5, 0, 600)
sleep(1.5)
e = Event()
def processor_created(context, pointer):
self.processor = pointer
e.set()
fn_wrapper = cbindings.FnVoid_VoidP_VoidP(processor_created)
# set accelerometer to 100Hz sampling rate and range to +/- 16 g's
libmetawear.mbl_mw_acc_set_odr(s.device.board, 100.0)
libmetawear.mbl_mw_acc_set_range(s.device.board, 16.0)
libmetawear.mbl_mw_acc_write_acceleration_config(s.device.board)
# set gyro to 100Hz sampling rate and +/- 1000 deg/sec.
libmetawear.mbl_mw_gyro_bmi160_set_odr(s.device.board, MBL_MW_GYRO_BMI160_ODR_100Hz)
libmetawear.mbl_mw_gyro_bmi160_set_range(s.device.board, MBL_MW_GYRO_BMI160_RANGE_1000dps)
libmetawear.mbl_mw_gyro_bmi160_write_config(s.device.board)
acc = libmetawear.mbl_mw_acc_get_acceleration_data_signal(self.device.board)
gyro = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(self.device.board)
signals = (c_void_p * 1)()
signals[0] = gyro
# libmetawear.mbl_mw_dataprocessor_accounter_create(signals, None, fn_wrapper)
fuser = create_voidp(lambda fn: libmetawear.mbl_mw_dataprocessor_fuser_create(acc, signals, 1, None, fn), resource = "fuser", event = e)
accounter = create_voidp(lambda fn: libmetawear.mbl_mw_dataprocessor_accounter_create(fuser, None, fn), resource = "accounter", event = e)
# libmetawear.mbl_mw_datasignal_subscribe(self.processor, None, self.callback)
libmetawear.mbl_mw_datasignal_subscribe(accounter, None, self.callback)
def DevRun(self):
try:
## Get data and print to console ##
self.euler_signal = libmetawear.mbl_mw_sensor_fusion_get_data_signal(
self.board, SensorFusionData.EULER_ANGLE)
self.euler_callback = FnVoid_VoidP_DataP(
lambda context, data: print("epoch: %s, euler %s\n" % (
data.contents.epoch, parse_value(data))))
## Required for data extraction ##
libmetawear.mbl_mw_datasignal_subscribe(self.euler_signal, None,
self.euler_callback)
libmetawear.mbl_mw_sensor_fusion_enable_data(
self.board, SensorFusionData.EULER_ANGLE)
libmetawear.mbl_mw_sensor_fusion_set_mode(self.board,
SensorFusionMode.NDOF)
libmetawear.mbl_mw_sensor_fusion_write_config(self.board)
libmetawear.mbl_mw_sensor_fusion_start(self.board)
#input('') # Don't seem to need this ? ?
except OSError as err:
print("OS ERROR {}".format(err))
self.DevClose()
print("Device closed properly...")
sys.exit()
except ValueError:
print("Error with variable...")
self.DevClose()
print("Device closed properly...")
sys.exit()
except:
print("Unexpected Error:", sys.exc_info()[0])
self.DevClose()
print("Device closed properly...")
sys.exit()
def start_test(self, time_tests):
for device in self.device_list:
logger.info_log(f"Start device: {device.device.address}")
signal = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
device.device.board)
libmetawear.mbl_mw_datasignal_subscribe(signal, None,
device.callback)
libmetawear.mbl_mw_acc_enable_acceleration_sampling(
device.device.board)
libmetawear.mbl_mw_acc_start(device.device.board)
sleep(5.0)
sleep(time_tests)
for device in self.device_list:
libmetawear.mbl_mw_acc_stop(device.device.board)
libmetawear.mbl_mw_acc_disable_acceleration_sampling(
device.device.board)
signal = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
device.device.board)
libmetawear.mbl_mw_datasignal_unsubscribe(signal)
libmetawear.mbl_mw_debug_disconnect(device.device.board)
logger.info_log(f"Stop device: {device.device.address}")
if DEBUG_STREAM_ACC:
start_debug()
for s in self.device_list:
if BATCH_STORE:
self.strage.store(s.data)
print("%s -> %d" % (s.device.address, s.samples))
end_debug()
def setup(self):
libmetawear.mbl_mw_settings_set_connection_parameters(
self.device.board, 7.5, 7.5, 0, 6000)
sleep(1.5)
e = Event()
def processor_created(context, pointer):
self.processor = pointer
e.set()
fn_wrapper = cbindings.FnVoid_VoidP_VoidP(processor_created)
acc = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
self.device.board)
gyro = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(
self.device.board)
signals = (c_void_p * 1)()
signals[0] = gyro
libmetawear.mbl_mw_dataprocessor_fuser_create(acc, signals, 1, None,
fn_wrapper)
e.wait()
libmetawear.mbl_mw_datasignal_subscribe(self.processor, None,
self.callback)
def setup(self):
# ble settings
libmetawear.mbl_mw_settings_set_connection_parameters(
self.device.board, 7.5, 7.5, 0, 6000)
sleep(1.5)
# events
e = Event()
# processor callback fxn
def processor_created(context, pointer):
self.processor = pointer
e.set()
# processor fxn ptr
fn_wrapper = cbindings.FnVoid_VoidP_VoidP(processor_created)
# get acc signal
acc = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
self.device.board)
# get gyro signal - MMRl, MMR, MMc ONLY
#gyro = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(self.device.board)
# get gyro signal - MMRS ONLY
gyro = libmetawear.mbl_mw_gyro_bmi270_get_rotation_data_signal(
self.device.board)
# create signals variable
signals = (c_void_p * 1)()
signals[0] = gyro
# create acc + gyro signal fuser
libmetawear.mbl_mw_dataprocessor_fuser_create(acc, signals, 1, None,
fn_wrapper)
# wait for fuser to be created
e.wait()
# subscribe to the fused signal
libmetawear.mbl_mw_datasignal_subscribe(self.processor, None,
self.callback)
def passthrough_created(self, context, signal):
# stream passthrough data
print(signal)
print(context)
self.passthrough_proc = signal
libmetawear.mbl_mw_datasignal_subscribe(signal, None, self.callback)
print("stream passthrough data")
e.set()
def timer_created(timer):
global bsignal
bsignal = libmetawear.mbl_mw_settings_get_battery_state_data_signal(device.board)
libmetawear.mbl_mw_datasignal_subscribe(bsignal, batt_handler_fn)
libmetawear.mbl_mw_event_record_commands(timer)
libmetawear.mbl_mw_datasignal_read(bsignal)
libmetawear.mbl_mw_event_end_record(timer, getStatusFn_handler_fn)
libmetawear.mbl_mw_timer_start(timer)
def setup(self):
# set BLE connection params (min connect interval, max interval,
# latency, timeout) all in milliseconds
libmetawear.mbl_mw_settings_set_connection_parameters(
self.device.board, 7.5, 7.5, 0, 6000)
# set BLE advertising strength (higher strength = higher power consumption
# but theoretically better connectivity)
libmetawear.mbl_mw_settings_set_tx_power(self.device.board, 4)
sleep(1.5)
e = Event()
def processor_created(context, pointer):
self.processor = pointer
e.set()
fn_wrapper = metacbindings.FnVoid_VoidP_VoidP(processor_created)
# set accelerometer to 100Hz sampling rate and range to +/- 16 g's
libmetawear.mbl_mw_acc_set_odr(s.device.board, 100.0)
libmetawear.mbl_mw_acc_set_range(s.device.board, 16.0)
libmetawear.mbl_mw_acc_write_acceleration_config(s.device.board)
# set gyro to 100Hz sampling rate and +/- 1000 deg/sec.
libmetawear.mbl_mw_gyro_bmi160_set_odr(s.device.board,
MBL_MW_GYRO_BMI160_ODR_100Hz)
libmetawear.mbl_mw_gyro_bmi160_set_range(
s.device.board, MBL_MW_GYRO_BMI160_RANGE_1000dps)
libmetawear.mbl_mw_gyro_bmi160_write_config(s.device.board)
# get pointers referencing the acc and gyro data signals
acc = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
self.device.board)
gyro = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(
self.device.board)
signals = (c_void_p * 1)()
signals[0] = gyro
# //libmetawear.mbl_mw_dataprocessor_accounter_create(signals, None, fn_wrapper)
# chain two processors together (fuser and accounter) to get timestamped acc+gyro data
# create a fuser "data processor" which packages the acc and gyro signals into same packets before sending
fuser = create_voidp(
lambda fn: libmetawear.mbl_mw_dataprocessor_fuser_create(
acc, signals, 1, None, fn),
resource="fuser",
event=e)
# accounter processor adds correct epoch data to BLE packets, necessary for timestamping stream-mode data
accounter = create_voidp(
lambda fn: libmetawear.mbl_mw_dataprocessor_accounter_create(
fuser, None, fn),
resource="accounter",
event=e)
# //libmetawear.mbl_mw_datasignal_subscribe(self.processor, None, self.callback)
libmetawear.mbl_mw_datasignal_subscribe(accounter, None, self.callback)
def setup(self):
#Set up file
self.file.write(
"Time, Time from start (s), Acc x, Acc y, Acc z, Gyro x, Gyro y, Gyro z, Mag x, Mag y, Mag z \n"
)
#Set up board
libmetawear.mbl_mw_settings_set_connection_parameters(
self.device.board, 7.5, 7.5, 0, 6000)
#Acceleration sampling frequency
libmetawear.mbl_mw_acc_set_odr(s.device.board,
100.0) #fastest frequency is 400 Hz
#range of acceleration
libmetawear.mbl_mw_acc_set_range(s.device.board, 16.0)
#write acceleration config
libmetawear.mbl_mw_acc_write_acceleration_config(s.device.board)
#Gyro sampling frequency
libmetawear.mbl_mw_gyro_bmi160_set_odr(self.device.board,
8) #9 = 200Hz, 8 = 100Hz
#Gyro range
libmetawear.mbl_mw_gyro_bmi160_set_range(
self.device.board, 0) #0 = 2000 dps, 1 = 1000 dps
#Write gyro config
libmetawear.mbl_mw_gyro_bmi160_write_config(self.device.board)
libmetawear.mbl_mw_mag_bmm150_set_preset(self.device.board, 3)
sleep(1.5)
e = Event()
def processor_created(context, pointer):
self.processor = pointer
e.set()
fn_wrapper = cbindings.FnVoid_VoidP_VoidP(processor_created)
acc = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
self.device.board)
gyro = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(
self.device.board)
mag = libmetawear.mbl_mw_mag_bmm150_get_b_field_data_signal(
self.device.board)
signals = (c_void_p * 2)()
signals[0] = gyro
signals[1] = mag
libmetawear.mbl_mw_dataprocessor_fuser_create(acc, signals, 2, None,
fn_wrapper)
e.wait()
libmetawear.mbl_mw_datasignal_subscribe(self.processor, None,
self.callback)
def setDevice(mmr):
libmetawear.mbl_mw_settings_set_connection_parameters(
mmr.device.board, 7.5, 7.5, 0, 6000)
sleep(1.5)
# Get the signal from i2c communication
# (device.board address, the size of data(byte), id : Numerical value identifying the data)
mmr.i2c_signal = libmetawear.mbl_mw_i2c_get_data_signal(
mmr.device.board, 3, 0xa)
# Get the signal from Acceleration
acc_signal = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
mmr.device.board)
# get the signal from Gyro
gyro_signal = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(
mmr.device.board)
# Subscribe the i2c signal
# (i2c signal value, context(Pointer to additional data for the call back function
# , Callback function to handle data received from the signal))
libmetawear.mbl_mw_datasignal_subscribe(mmr.i2c_signal, None,
mmr.callback_i2c)
# Subscribe the acc acc_signal
# libmetawear.mbl_mw_datasignal_subscribe(acc_signal, None, mmr.callback_acc)
# Subscribe the gyro gyro acc_signal
# libmetawear.mbl_mw_datasignal_subscribe(gyro_signal, None, mmr.callback_gyro)
# device_addr = 7bit(the slave device address) + 1bit(W : 0 / R : 1)
# Parameter : (device address, register address : CAP DATA REGISTER(0x01))
# libmetawear.mbl_mw_i2c_write(mmr.device.board, AD7745_ADDR_WRITE, RESET_ADDR, value, 1)
# Setup the configuration for I2C Communication
libmetawear.mbl_mw_i2c_write(mmr.device.board, AD7745_ADDR, REG_CAP_SETUP,
c_uint8(CAP_SETUP_PROP), 1)
sleep(0.5)
libmetawear.mbl_mw_i2c_write(mmr.device.board, AD7745_ADDR, REG_EXC_SETUP,
c_uint8(EXC_SETUP_PROP), 1)
sleep(0.5)
libmetawear.mbl_mw_i2c_write(mmr.device.board,
AD7745_ADDR, REG_CONFIGURATION,
c_uint8(CONFIGURATION_PROP), 1)
sleep(0.5)
libmetawear.mbl_mw_i2c_write(mmr.device.board, AD7745_ADDR, REG_CAP_DAC_A,
c_uint8(CAP_DAC_A_PROP), 1)
sleep(0.5)
def run(self):
try:
self.euler_signal = libmetawear.mbl_mw_sensor_fusion_get_data_signal(self.board, SensorFusionData.EULER_ANGLE)
libmetawear.mbl_mw_datasignal_subscribe(self.euler_signal, None, self.euler_callback)
libmetawear.mbl_mw_sensor_fusion_enable_data(self.board, SensorFusionData.EULER_ANGLE)
libmetawear.mbl_mw_sensor_fusion_set_mode(self.board, SensorFusionMode.NDOF)
libmetawear.mbl_mw_sensor_fusion_write_config(self.board)
libmetawear.mbl_mw_sensor_fusion_start(self.board)
self.e.wait()
input("")
except KeyboardInterrupt as e:
print (e)
self.close()
sys.exit()
def calibrate(self):
e = Event()
def calibration_data_handler(ctx, board, pointer):
print("calibration data: %s" % (pointer.contents))
libmetawear.mbl_mw_sensor_fusion_write_calibration_data(
board, pointer)
libmetawear.mbl_mw_memory_free(pointer)
e.set()
def calibration_handler(ctx, pointer):
value = parse_value(pointer)
print("state: %s" % (value))
if (value.accelrometer >=
Const.SENSOR_FUSION_CALIBRATION_ACCURACY_HIGH
and value.gyroscope >=
Const.SENSOR_FUSION_CALIBRATION_ACCURACY_HIGH
and value.magnetometer >=
Const.SENSOR_FUSION_CALIBRATION_ACCURACY_HIGH):
libmetawear.mbl_mw_sensor_fusion_read_calibration_data(
self.device.board, None, fn_wrapper_01)
else:
sleep(1.0)
libmetawear.mbl_mw_datasignal_read(signal)
fn_wrapper_01 = FnVoid_VoidP_VoidP_CalibrationDataP(
calibration_data_handler)
fn_wrapper_02 = FnVoid_VoidP_DataP(calibration_handler)
signal = libmetawear.mbl_mw_sensor_fusion_calibration_state_data_signal(
self.device.board)
libmetawear.mbl_mw_sensor_fusion_set_mode(self.device.board,
SensorFusionMode.NDOF)
libmetawear.mbl_mw_sensor_fusion_write_config(self.device.board)
libmetawear.mbl_mw_datasignal_subscribe(signal, None, fn_wrapper_02)
libmetawear.mbl_mw_sensor_fusion_start(self.device.board)
libmetawear.mbl_mw_datasignal_read(signal)
e.wait()
sleep(1.0)
libmetawear.mbl_mw_sensor_fusion_stop(self.device.board)
libmetawear.mbl_mw_datasignal_unsubscribe(signal)
e.clear()
def setup(self):
libmetawear.mbl_mw_settings_set_connection_parameters(
self.device.board, 7.5, 7.5, 0, 6000)
sleep(1.5)
e = Event()
def processor_created(context, pointer):
self.processor = pointer
e.set()
fn_wrapper = cbindings.FnVoid_VoidP_VoidP(processor_created)
acc = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
self.device.board)
libmetawear.mbl_mw_dataprocessor_average_create(
acc, 4, None, fn_wrapper)
e.wait()
libmetawear.mbl_mw_datasignal_subscribe(self.processor, None,
self.callback)
def setup(self):
libmetawear.mbl_mw_sensor_fusion_set_mode(self.device.board,
SensorFusionMode.IMU_PLUS)
libmetawear.mbl_mw_sensor_fusion_set_acc_range(
self.device.board, SensorFusionAccRange._4G)
libmetawear.mbl_mw_sensor_fusion_set_gyro_range(
self.device.board, SensorFusionGyroRange._1000DPS)
libmetawear.mbl_mw_sensor_fusion_write_config(self.device.board)
AccSignal = libmetawear.mbl_mw_sensor_fusion_get_data_signal(
self.device.board, SensorFusionData.LINEAR_ACC)
gpioSignal = libmetawear.mbl_mw_gpio_get_pin_monitor_data_signal(
self.device.board, 0)
resetSignal = libmetawear.mbl_mw_gpio_get_pin_monitor_data_signal(
self.device.board, 1)
libmetawear.mbl_mw_datasignal_subscribe(AccSignal, None, self.callback)
libmetawear.mbl_mw_datasignal_subscribe(gpioSignal, None,
self.gpioCallback)
libmetawear.mbl_mw_datasignal_subscribe(resetSignal, None,
self.resetCallback)
libmetawear.mbl_mw_gpio_set_pull_mode(self.device.board, 0,
GpioPullMode.UP)
libmetawear.mbl_mw_gpio_set_pull_mode(self.device.board, 1,
GpioPullMode.UP)
libmetawear.mbl_mw_gpio_set_pin_change_type(self.device.board, 0,
GpioPinChangeType.ANY)
libmetawear.mbl_mw_gpio_set_pin_change_type(self.device.board, 1,
GpioPinChangeType.FALLING)
def DevRun(self):
try:
## Retrieve Sensor Data? ##
self.euler_signal = libmetawear.mbl_mw_sensor_fusion_get_data_signal(
self.board, SensorFusionData.EULER_ANGLE)
## View Data Directly - Removed ##
#self.euler_callback = FnVoid_VoidP_DataP(lambda context,data:print("epoch: %s, euler %s\n" % (data.contents.epoch, parse_value(data))))
## From initi function ##
self.euler_callback = FnVoid_VoidP_DataP(self.data_handler)
## All required for Data Extraction? ##
libmetawear.mbl_mw_datasignal_subscribe(self.euler_signal, None,
self.euler_callback)
libmetawear.mbl_mw_sensor_fusion_enable_data(
self.board, SensorFusionData.EULER_ANGLE)
libmetawear.mbl_mw_sensor_fusion_set_mode(self.board,
SensorFusionMode.NDOF)
libmetawear.mbl_mw_sensor_fusion_write_config(self.board)
libmetawear.mbl_mw_sensor_fusion_start(self.board)
#self.e.wait() # what is this for ? ? - removed
#input('') # what is this for ? ? - Does nothing
## Catch ANY errors ##
except OSError as err:
print("OS ERROR {}".format(err))
self.DevClose()
print("Device closed properly...")
sys.exit()
except ValueError:
print("Error with variable...")
self.DevClose()
print("Device closed properly...")
sys.exit()
except:
print("Unexpected Error:", sys.exc_info()[0])
self.DevClose()
print("Device closed properly...")
sys.exit()
def run(self):
try:
self.euler_signal = libmetawear.mbl_mw_sensor_fusion_get_data_signal(
self.board, SensorFusionData.EULER_ANGLE)
self.euler_callback = FnVoid_VoidP_DataP(
lambda context, data: print("epoch: %s, euler %s\n" % (
data.contents.epoch, parse_value(data))))
libmetawear.mbl_mw_datasignal_subscribe(self.euler_signal, None,
self.euler_callback)
libmetawear.mbl_mw_sensor_fusion_enable_data(
self.board, SensorFusionData.EULER_ANGLE)
libmetawear.mbl_mw_sensor_fusion_set_mode(self.board,
SensorFusionMode.NDOF)
libmetawear.mbl_mw_sensor_fusion_write_config(self.board)
libmetawear.mbl_mw_sensor_fusion_start(self.board)
input('')
except Exception as e:
print("RUN ERROR - {}".format(e))
self.close()
sys.exit()
def setup(self):
# s represents a device's MAC address
for s in self.states:
# Device configuration
print("Configuring device...")
# Not sure what these parameters are for, but they're synchronized with the rest of the settings.
libmetawear.mbl_mw_settings_set_connection_parameters(
s.device.board, 7.5, 7.5, 0, 6000)
# Acceleration
libmetawear.mbl_mw_acc_set_odr(s.device.board,
25.0) # 25 Hz data collection rate
libmetawear.mbl_mw_acc_set_range(s.device.board, 16.0) # Unsure
libmetawear.mbl_mw_acc_write_acceleration_config(
s.device.board) # Save to the board's configuration
signal_acceleration = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
s.device.board)
libmetawear.mbl_mw_datasignal_subscribe(signal_acceleration,
s.callback_accel)
libmetawear.mbl_mw_acc_enable_acceleration_sampling(s.device.board)
# Gyrometer
libmetawear.mbl_mw_gyro_bmi160_set_odr(s.device.board,
6) # 6 is index for 25 Hz
libmetawear.mbl_mw_gyro_bmi160_write_config(s.device.board)
signal_gyro = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(
s.device.board)
libmetawear.mbl_mw_datasignal_subscribe(signal_gyro,
s.callback_gyro)
libmetawear.mbl_mw_gyro_bmi160_enable_rotation_sampling(
s.device.board)
# Magnometer
libmetawear.mbl_mw_mag_bmm150_configure(s.device.board, 1, 1,
6) # 6 is index for 25 Hz
signal_mag = libmetawear.mbl_mw_mag_bmm150_get_b_field_data_signal(
s.device.board)
libmetawear.mbl_mw_datasignal_subscribe(signal_mag, s.callback_mag)
# Run LED - Stays green until IMUs / system starts with a pulse
pattern = LedPattern(repeat_count=Const.LED_REPEAT_INDEFINITELY)
libmetawear.mbl_mw_led_load_preset_pattern(byref(pattern),
LedPreset.SOLID)
libmetawear.mbl_mw_led_write_pattern(s.device.board,
byref(pattern),
LedColor.GREEN)
libmetawear.mbl_mw_led_play(s.device.board)
return
import sys
device = MetaWear('FB:81:71:31:92:7A')
device.connect()
# Callback function to process/parse the battery data
def data_handler(self, ctx, data):
print("%s -> %s" % (self.device.address, parse_value(data)))
callback = FnVoid_VoidP_DataP(data_handler)
print("Configuring device")
libmetawear.mbl_mw_settings_set_connection_parameters(device.board, 7.5, 7.5,
0, 6000)
battery_signal = libmetawear.mbl_mw_settings_get_battery_state_data_signal(
device.board)
libmetawear.mbl_mw_datasignal_subscribe(battery_signal, None, callback)
sleep(1.0)
libmetawear.mbl_mw_datasignal_read(battery_signal)
sleep(5.0)
libmetawear.mbl_mw_datasignal_unsubscribe(battery_signal)
libmetawear.mbl_mw_debug_disconnect(device.board)
device.on_disconnect = lambda status: print("we are disconnected!")
device.disconnect()
d.connect()
print("Connected to " + d.address)
states.append(State(d))
for s in states:
print("Configuring device")
libmetawear.mbl_mw_settings_set_connection_parameters(
s.device.board, 1.5, 1.5, 0, 6000)
libmetawear.mbl_mw_gyro_bmi160_set_odr(s.device.board, AccBmi160Odr._50Hz)
libmetawear.mbl_mw_gyro_bmi160_set_range(s.device.board,
AccBoschRange._125dps)
libmetawear.mbl_mw_gyro_bmi160_write_config(s.device.board)
signal = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(
s.device.board)
libmetawear.mbl_mw_datasignal_subscribe(signal, None, s.callback)
libmetawear.mbl_mw_gyro_bmi160_enable_rotation_sampling(s.device.board)
libmetawear.mbl_mw_gyro_bmi160_start(s.device.board)
sleep(10.0)
for s in states:
libmetawear.mbl_mw_gyro_bmi160_stop(s.device.board)
libmetawear.libmetawear.mbl_mw_gyro_bmi160_disable_rotation_sampling(
s.device.board)
signal = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(
s.device.board)
libmetawear.mbl_mw_datasignal_unsubscribe(signal)
libmetawear.mbl_mw_debug_disconnect(s.device.board)
# setup acc
#libmetawear.mbl_mw_acc_set_odr(s.device.board, 50.0) # Generic call
libmetawear.mbl_mw_acc_bmi270_set_odr(
s.device.board, AccBmi270Odr._50Hz) # BMI 270 specific call
libmetawear.mbl_mw_acc_bosch_set_range(s.device.board, AccBoschRange._4G)
libmetawear.mbl_mw_acc_write_acceleration_config(s.device.board)
# setup gyro
libmetawear.mbl_mw_gyro_bmi270_set_range(s.device.board,
GyroBoschRange._1000dps)
libmetawear.mbl_mw_gyro_bmi270_set_odr(s.device.board, GyroBoschOdr._50Hz)
libmetawear.mbl_mw_gyro_bmi270_write_config(s.device.board)
# get acc and subscribe
acc = libmetawear.mbl_mw_acc_get_acceleration_data_signal(s.device.board)
libmetawear.mbl_mw_datasignal_subscribe(acc, None, s.accCallback)
# get gyro and subscribe
gyro = libmetawear.mbl_mw_gyro_bmi270_get_rotation_data_signal(
s.device.board)
libmetawear.mbl_mw_datasignal_subscribe(gyro, None, s.gyroCallback)
# start acc
libmetawear.mbl_mw_acc_enable_acceleration_sampling(s.device.board)
libmetawear.mbl_mw_acc_start(s.device.board)
# start gyro
libmetawear.mbl_mw_gyro_bmi270_enable_rotation_sampling(s.device.board)
libmetawear.mbl_mw_gyro_bmi270_start(s.device.board)
# sleep
print("\nConnected")
libmetawear.mbl_mw_gpio_set_pull_mode(device.board, 0, 1) #0 = pull up
libmetawear.mbl_mw_gpio_set_pull_mode(device.board, 1, 1) #1 = pull down
libmetawear.mbl_mw_gpio_set_pull_mode(device.board, 2, 1) #2 = float
libmetawear.mbl_mw_gpio_set_pull_mode(device.board, 3, 1)
libmetawear.mbl_mw_gpio_set_pull_mode(device.board, 4, 0)
libmetawear.mbl_mw_gpio_set_pull_mode(device.board, 5, 0)
clear_outputs() #cleans ungraceful shutdown
print("configured pins")
#subscribe to gpio inputs
signal1 = libmetawear.mbl_mw_gpio_get_digital_input_data_signal(device.board, 4)
libmetawear.mbl_mw_datasignal_subscribe(signal1, None, libmetawear.callback1)
signal2 = libmetawear.mbl_mw_gpio_get_digital_input_data_signal(device.board, 5)
libmetawear.mbl_mw_datasignal_subscribe(signal2, None, libmetawear.callback2)
print("subscribed listener\n")
#starting reaction testing
while len(motorArray):
#global motorArray
sleep(random.randrange(1,10)) #random delay vibration
j = random.randrange(0,len(motorArray)) #select random motor
if motorArray[j] == 4:
reaction_trick(motorArray[j])
else:
e.set()
# while(s.processor is None):
print("Trying to create processor...")
e = Event()
fn_wrapper = FnVoid_VoidP_VoidP(processor_created)
libmetawear.mbl_mw_dataprocessor_accounter_create(signal, None, fn_wrapper)
e.wait()
input("Press enter to start streaming...")
# libmetawear.mbl_mw_datasignal_subscribe(signal, None, s.callback)
try:
libmetawear.mbl_mw_datasignal_subscribe(s.processor, None, s.callback)
except OSError:
raise OSError("Processor pointer unassignable...reconnect")
except:
raise ValueError("Unexpected Error...")
libmetawear.mbl_mw_gyro_bmi160_enable_rotation_sampling(s.device.board)
libmetawear.mbl_mw_gyro_bmi160_start(s.device.board)
input("Press enter to stop streaming...")
# for s in states:
# libmetawear.mbl_mw_acc_stop(s.device.board)
# libmetawear.mbl_mw_acc_disable_acceleration_sampling(s.device.board)
# signal = libmetawear.mbl_mw_acc_get_acceleration_data_signal(s.device.board)
d = MetaWear(address)
d.connect()
print("Connected")
print("Setting up Device")
libmetawear.mbl_mw_settings_set_connection_parameters(d.board, 7.5, 7.5, 0, 6000)
Long = LedPattern(pulse_duration_ms=1000, high_time_ms=500, high_intensity=16, low_intensity=16, repeat_count=Const.LED_REPEAT_INDEFINITELY)
sleep(1.0)
# Collecting GPIO and Switch Data
switch = libmetawear.mbl_mw_switch_get_state_data_signal(d.board)
GPIO = libmetawear.mbl_mw_gpio_get_analog_input_data_signal(d.board, 1, 0)
GPIO_logger = create_voidp(lambda fn: libmetawear.mbl_mw_datasignal_log(GPIO, None, fn), resource = "logger")
libmetawear.mbl_mw_datasignal_subscribe(switch, None, switch_callback)
timer = create_voidp(lambda fn: libmetawear.mbl_mw_timer_create_indefinite(d.board, 1000, 0, None, fn), resource = "timer", event = e) #sampling (ms)
libmetawear.mbl_mw_event_record_commands(timer)
libmetawear.mbl_mw_datasignal_read(GPIO)
libmetawear.mbl_mw_datasignal_read(switch)
create_voidp_int(lambda fn: libmetawear.mbl_mw_event_end_record(timer, None, fn), event = e)
# Logging Sensor Data
try:
libmetawear.mbl_mw_led_write_pattern(d.board, byref(Long), LedColor.GREEN)
libmetawear.mbl_mw_led_play(d.board)
sleep(1.0)
libmetawear.mbl_mw_led_stop_and_clear(d.board)
print("Start Logging")
d = MetaWear(maclist[1])
d.connect()
print("Connected to GYO device at MAC:" + d.address)
g=gState(d)
sleep(0.5)
print("configuring device..........")
libmetawear.mbl_mw_settings_set_connection_parameters(a.device.board, 7.5, 7.5, 0, 6000)
libmetawear.mbl_mw_acc_set_odr(a.device.board, 25.0);
libmetawear.mbl_mw_acc_set_range(a.device.board, 16.0);
libmetawear.mbl_mw_acc_write_acceleration_config(a.device.board);
asignal = libmetawear.mbl_mw_acc_get_acceleration_data_signal(a.device.board)
libmetawear.mbl_mw_datasignal_subscribe(asignal, a.callback)
libmetawear.mbl_mw_acc_enable_acceleration_sampling(a.device.board);
libmetawear.mbl_mw_acc_start(a.device.board);
print("ACC config finished")
libmetawear.mbl_mw_settings_set_connection_parameters(g.device.board, 7.5, 7.5, 0, 6000)
libmetawear.mbl_mw_gyro_bmi160_set_odr(g.device.board, GyroBmi160Odr._25Hz);
libmetawear.mbl_mw_gyro_bmi160_set_range(g.device.board, GyroBmi160Range._500dps)
libmetawear.mbl_mw_gyro_bmi160_write_config(g.device.board)
gsignal = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(g.device.board)
libmetawear.mbl_mw_datasignal_subscribe(gsignal, g.callback)
libmetawear.mbl_mw_gyro_bmi160_enable_rotation_sampling(g.device.board)
libmetawear.mbl_mw_gyro_bmi160_start(g.device.board)
libmetawear.mbl_mw_sensor_fusion_read_calibration_data(
device.board, None, fn_wrapper_01)
else:
sleep(1.0)
libmetawear.mbl_mw_datasignal_read(signal)
# calbration handle fxn ptr
fn_wrapper_02 = FnVoid_VoidP_DataP(calibration_handler)
# setup sensor fusion config
libmetawear.mbl_mw_sensor_fusion_set_mode(device.board, SensorFusionMode.NDOF)
libmetawear.mbl_mw_sensor_fusion_write_config(device.board)
# subscribe to the calibration sensor fusion signal
libmetawear.mbl_mw_datasignal_subscribe(signal, None, fn_wrapper_02)
# start
libmetawear.mbl_mw_sensor_fusion_start(device.board)
# read
libmetawear.mbl_mw_datasignal_read(signal)
# wait for event
e.wait()
print("Disconnecting")
e.clear()
device.on_disconnect = lambda s: e.set()
# stop
libmetawear.mbl_mw_sensor_fusion_stop(device.board)
libmetawear.mbl_mw_settings_set_connection_parameters(mmr.device.board, 7.5, 7.5, 0, 6000) sleep(1.5) #Get the signal from i2c communication #(device.board address, the size of data(byte), id : Numerical value identifying the data) i2c_signal = libmetawear.mbl_mw_i2c_get_data_signal(mmr.device.board, 3, 0xa) #Get the signal from Acceleration acc_signal = libmetawear.mbl_mw_acc_get_acceleration_data_signal(mmr.device.board) #get the signal from Gyro gyro_signal = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(mmr.device.board) #Subscribe the i2c signal #(i2c signal value, context(Pointer to additional data for the call back function # , Callback function to handle data received from the signal)) libmetawear.mbl_mw_datasignal_subscribe(i2c_signal, None, mmr.callback_i2c) #libmetawear.mbl_mw_datasignal_subscribe(acc_signal, None, mmr.callback_acc) #libmetawear.mbl_mw_datasignal_subscribe(gyro_signal, None, mmr.callback_gyro) #Subscribe the acc acc_signal #libmetawear.mbl_mw_datasignal_subscribe(acc_signal, None, mmr.callback_acc) #Subscribe the gyro gyro acc_signal #libmetawear.mbl_mw_datasignal_subscribe(gyro_signal, None, mmr.callback_gyro) #device_addr = 7bit(the slave device address) + 1bit(W : 0 / R : 1) #Parameter : (device address, register address : CAP DATA REGISTER(0x01)) #libmetawear.mbl_mw_i2c_write(mmr.device.board, AD7745_ADDR_WRITE, RESET_ADDR, value, 1)
libmetawear.mbl_mw_settings_set_connection_parameters(
device.board, 7.5, 7.5, 0, 6000)
raw = libmetawear.mbl_mw_metawearboard_get_model_name(device.board)
sleep(1.0)
model_name = cast(raw, c_char_p).value.decode("ascii")
print("model=" + model_name)
# Stream data at 12.5Hz
libmetawear.mbl_mw_acc_set_range(device.board, 16.0)
libmetawear.mbl_mw_acc_set_odr(device.board, 12.5)
libmetawear.mbl_mw_acc_write_acceleration_config(device.board)
msignal = libmetawear.mbl_mw_acc_get_acceleration_data_signal(device.board)
libmetawear.mbl_mw_datasignal_subscribe(msignal, data_handler_fn)
libmetawear.mbl_mw_acc_enable_acceleration_sampling(device.board)
libmetawear.mbl_mw_acc_start(device.board)
print("Stream started")
wdvar = Watchdog(timeout, mywatchdog)
sleep(float(difftime))
wdvar.stop()
# Stop the stream
libmetawear.mbl_mw_acc_stop(device.board)
libmetawear.mbl_mw_acc_disable_acceleration_sampling(device.board)
libmetawear.mbl_mw_datasignal_unsubscribe(msignal)
sleep(1.0)
conn.close()
sleep(1.0)
